diff --git a/src/main/java/frc/robot/subsystems/ExtensionKinematics.java b/src/main/java/frc/robot/subsystems/ExtensionKinematics.java
index fb4190ea..8329ced4 100644
--- a/src/main/java/frc/robot/subsystems/ExtensionKinematics.java
+++ b/src/main/java/frc/robot/subsystems/ExtensionKinematics.java
@@ -38,13 +38,19 @@ public class ExtensionKinematics {
       new Pose2d(0.26, 0.4, Rotation2d.fromDegrees(15.0)); // solveFK(L1_EXTENSION);
   public static final ExtensionState L1_EXTENSION = solveIK(L1_POSE);
   public static final ExtensionState L2_EXTENSION =
-      new ExtensionState(0.33, Rotation2d.fromRadians(0.569), Rotation2d.fromRadians(2.447));
+      new ExtensionState(
+          0.23 + Units.inchesToMeters(1.5),
+          Rotation2d.fromRadians(0.569).plus(Rotation2d.fromDegrees(20)),
+          Rotation2d.fromRadians(2.447));
   public static final Pose2d L2_POSE = solveFK(L2_EXTENSION);
   public static final ExtensionState L3_EXTENSION =
-      new ExtensionState(0.68, Rotation2d.fromRadians(1.022), Rotation2d.fromRadians(2.427));
+      new ExtensionState(
+          0.60 + Units.inchesToMeters(2.0),
+          Rotation2d.fromRadians(1.022).minus(Rotation2d.fromDegrees(3)),
+          Rotation2d.fromRadians(2.427));
   public static final Pose2d L3_POSE = solveFK(L3_EXTENSION);
   public static final Pose2d L4_POSE =
-      new Pose2d(new Translation2d(0.25, 2.05), Rotation2d.fromDegrees(110.0));
+      new Pose2d(new Translation2d(0.23, 2.05), Rotation2d.fromDegrees(110.0));
   public static final ExtensionState L4_EXTENSION = solveIK(L4_POSE);
 
   public static final ExtensionState LOW_ALGAE_EXTENSION =
diff --git a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java
index 664b90d3..83ad4796 100644
--- a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java
@@ -78,12 +78,12 @@ public void periodic() {
     if (Robot.ROBOT_TYPE != RobotType.REAL)
       Logger.recordOutput(NAME + "/Filtered Current", currentFilterValue);
 
-    if (firstBBInputs.get && !secondBBInputs.get) {
+    if (getFirstBeambreak() && !getSecondBeambreak()) {
       Tracer.trace("Manipulator/Zero", () -> io.resetEncoder(0.0));
       zeroTimer.reset();
     }
 
-    if (!firstBBInputs.get && secondBBInputs.get) {
+    if (!getFirstBeambreak() && getSecondBeambreak()) {
       // Number calculated from coral length, may need tuning
       Tracer.trace("Manipulator/Zero", () -> io.resetEncoder(1.0));
       zeroTimer.reset();
diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java
index 5551b756..bc83ce5e 100644
--- a/src/main/java/frc/robot/subsystems/Superstructure.java
+++ b/src/main/java/frc/robot/subsystems/Superstructure.java
@@ -267,7 +267,7 @@ private void configureStateTransitionCommands() {
         .get(SuperState.IDLE)
         .and(() -> !elevator.hasZeroed || !wrist.hasZeroed)
         .and(() -> DriverStation.isEnabled())
-        .and(() -> Robot.ROBOT_TYPE != RobotType.SIM)
+        // .and(() -> Robot.ROBOT_TYPE != RobotType.SIM)
         .onTrue(this.forceState(SuperState.HOME));
 
     // We might want to make this work when we have a piece as well?